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<div class="title">trajkovic_3d.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2013-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_TRAJKOVIC_KEYPOINT_3D_IMPL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_TRAJKOVIC_KEYPOINT_3D_IMPL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/features/integral_image_normal.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<a class="code" href="classpcl_1_1_trajkovic_keypoint3_d.html">pcl::TrajkovicKeypoint3D&lt;PointInT, PointOutT, NormalT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">PCLBase&lt;PointInT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  keypoints_indices_.reset (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  keypoints_indices_-&gt;indices.reserve (input_-&gt;size ());</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">if</span> (indices_-&gt;size () != input_-&gt;size ())</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] %s doesn&#39;t support setting indices!\n&quot;</span>, name_.c_str ());</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> ((window_size_%2) == 0)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] Window size must be odd!\n&quot;</span>, name_.c_str ());</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  }</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">if</span> (window_size_ &lt; 3)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] Window size must be &gt;= 3x3!\n&quot;</span>, name_.c_str ());</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  half_window_size_ = window_size_ / 2;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">if</span> (!normals_)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    NormalsPtr normals (<span class="keyword">new</span> Normals ());</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation&lt;PointInT, NormalT&gt;</a> normal_estimation;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">setNormalEstimationMethod</a> (<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation&lt;PointInT, NormalT&gt;::SIMPLE_3D_GRADIENT</a>);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">setInputCloud</a> (input_);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">setNormalSmoothingSize</a> (5.0);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    normal_estimation.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*normals);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    normals_ = normals;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">if</span> (normals_-&gt;size () != input_-&gt;size ())</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] normals given, but the number of normals does not match the number of input points!\n&quot;</span>, name_.c_str ());</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint3_d.html#a0355b42f2f8d11259b292bee56c0a951">   94</a></span>&#160;<a class="code" href="classpcl_1_1_trajkovic_keypoint3_d.html#a0355b42f2f8d11259b292bee56c0a951">pcl::TrajkovicKeypoint3D&lt;PointInT, PointOutT, NormalT&gt;::detectKeypoints</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;{</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  response_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> (input_-&gt;width, input_-&gt;height));</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">Normals</a> &amp;normals = *normals_;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;input = *input_;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a>&amp; response = *response_;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> w = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;width) - half_window_size_;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> h = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;height) - half_window_size_;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordflow">if</span> (method_ == FOUR_CORNERS)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads (threads_)</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = half_window_size_; j &lt; h; ++j)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = half_window_size_; i &lt; w; ++i)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">if</span> (!isFinite (input (i,j))) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;center = normals (i,j);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordflow">if</span> (!isFinite (center)) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordtype">int</span> count = 0;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;up = getNormalOrNull (i, j-half_window_size_, count);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;down = getNormalOrNull (i, j+half_window_size_, count);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;left = getNormalOrNull (i-half_window_size_, j, count);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;right = getNormalOrNull (i+half_window_size_, j, count);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="comment">// Get rid of isolated points</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">if</span> (!count) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordtype">float</span> sn1 = squaredNormalsDiff (up, center);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordtype">float</span> sn2 = squaredNormalsDiff (down, center);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordtype">float</span> r1 = sn1 + sn2;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">float</span> r2 = squaredNormalsDiff (right, center) + squaredNormalsDiff (left, center);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keywordtype">float</span> d = std::min (r1, r2);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keywordflow">if</span> (d &lt; first_threshold_) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        sn1 = sqrt (sn1);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        sn2 = sqrt (sn2);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordtype">float</span> b1 = normalsDiff (right, up) * sn1;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        b1+= normalsDiff (left, down) * sn2;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">float</span> b2 = normalsDiff (right, down) * sn2;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        b2+= normalsDiff (left, up) * sn1;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordtype">float</span> B = std::min (b1, b2);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keywordtype">float</span> A = r2 - r1 - 2*B;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        response (i,j) = ((B &lt; 0) &amp;&amp; ((B + A) &gt; 0)) ? r1 - ((B*B)/A) : d;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads (threads_)</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = half_window_size_; j &lt; h; ++j)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = half_window_size_; i &lt; w; ++i)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordflow">if</span> (!isFinite (input (i,j))) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;center = normals (i,j);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordflow">if</span> (!isFinite (center)) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keywordtype">int</span> count = 0;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;up = getNormalOrNull (i, j-half_window_size_, count);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;down = getNormalOrNull (i, j+half_window_size_, count);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;left = getNormalOrNull (i-half_window_size_, j, count);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;right = getNormalOrNull (i+half_window_size_, j, count);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;upleft = getNormalOrNull (i-half_window_size_, j-half_window_size_, count);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;upright = getNormalOrNull (i+half_window_size_, j-half_window_size_, count);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;downleft = getNormalOrNull (i-half_window_size_, j+half_window_size_, count);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;downright = getNormalOrNull (i+half_window_size_, j+half_window_size_, count);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="comment">// Get rid of isolated points</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordflow">if</span> (!count) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        std::vector&lt;float&gt; r (4,0);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        r[0] = squaredNormalsDiff (up, center);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        r[0]+= squaredNormalsDiff (down, center);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        r[1] = squaredNormalsDiff (upright, center);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        r[1]+= squaredNormalsDiff (downleft, center);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        r[2] = squaredNormalsDiff (right, center);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        r[2]+= squaredNormalsDiff (left, center);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        r[3] = squaredNormalsDiff (downright, center);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        r[3]+= squaredNormalsDiff (upleft, center);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordtype">float</span> d = *(std::min_element (r.begin (), r.end ()));</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keywordflow">if</span> (d &lt; first_threshold_) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        std::vector&lt;float&gt; B (4,0);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        std::vector&lt;float&gt; A (4,0);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        std::vector&lt;float&gt; sumAB (4,0);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        B[0] = normalsDiff (upright, up) * normalsDiff (up, center);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        B[0]+= normalsDiff (downleft, down) * normalsDiff (down, center);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        B[1] = normalsDiff (right, upright) * normalsDiff (upright, center);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        B[1]+= normalsDiff (left, downleft) * normalsDiff (downleft, center);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        B[2] = normalsDiff (downright, right) * normalsDiff (downright, center);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        B[2]+= normalsDiff (upleft, left) * normalsDiff (upleft, center);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        B[3] = normalsDiff (down, downright) * normalsDiff (downright, center);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        B[3]+= normalsDiff (up, upleft) * normalsDiff (upleft, center);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        A[0] = r[1] - r[0] - B[0] - B[0];</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        A[1] = r[2] - r[1] - B[1] - B[1];</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        A[2] = r[3] - r[2] - B[2] - B[2];</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        A[3] = r[0] - r[3] - B[3] - B[3];</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        sumAB[0] = A[0] + B[0];</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        sumAB[1] = A[1] + B[1];</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        sumAB[2] = A[2] + B[2];</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        sumAB[3] = A[3] + B[3];</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordflow">if</span> ((*std::max_element (B.begin (), B.end ()) &lt; 0) &amp;&amp;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            (*std::min_element (sumAB.begin (), sumAB.end ()) &gt; 0))</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          std::vector&lt;float&gt; D (4,0);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          D[0] = B[0] * B[0] / A[0];</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          D[1] = B[1] * B[1] / A[1];</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          D[2] = B[2] * B[2] / A[2];</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          D[3] = B[3] * B[3] / A[3];</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          response (i,j) = *(std::min (D.begin (), D.end ()));</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          response (i,j) = d;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="comment">// Non maximas suppression</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  std::vector&lt;int&gt; indices = *indices_;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  std::sort (indices.begin (), indices.end (),</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;             boost::bind (&amp;TrajkovicKeypoint3D::greaterCornernessAtIndices, <span class="keyword">this</span>, _1, _2));</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  output.reserve (input_-&gt;size ());</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  std::vector&lt;bool&gt; occupency_map (indices.size (), <span class="keyword">false</span>);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width (input_-&gt;width);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height (input_-&gt;height);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="preprocessor">#pragma omp parallel for shared (output) num_threads (threads_)</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordtype">int</span> idx = indices[i];</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">if</span> ((response_-&gt;points[idx] &lt; second_threshold_) || occupency_map[idx])</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    PointOutT p;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    p.getVector3fMap () = input_-&gt;points[idx].getVector3fMap ();</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    p.intensity = response_-&gt;points [idx];</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="preprocessor">#pragma omp critical</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (p);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      keypoints_indices_-&gt;indices.push_back (idx);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> x = idx % width;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> y = idx / width;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> u_end = std::min (width, x + half_window_size_);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> v_end = std::min (height, y + half_window_size_);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> v = std::max (0, y - half_window_size_); v &lt; v_end; ++v)</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">int</span> u = std::max (0, x - half_window_size_); u &lt; u_end; ++u)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        occupency_map[v*width + u] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.size());</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="comment">// we don not change the denseness</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;}</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_TrajkovicKeypoint3D(T,U,N) template class PCL_EXPORTS pcl::TrajkovicKeypoint3D&lt;T,U,N&gt;;</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on organized data using integral images.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a03cc1e146b6041a1d3d5a989ad171ee2"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">pcl::IntegralImageNormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6bde05e6637af21bb5f970c9feba4fc0"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">pcl::IntegralImageNormalEstimation::setNormalEstimationMethod</a></div><div class="ttdeci">void setNormalEstimationMethod(NormalEstimationMethod normal_estimation_method)</div><div class="ttdoc">Set the normal estimation method. The current implemented algorithms are:</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ac833637b98338bafa4c38925ab245927"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">pcl::IntegralImageNormalEstimation::setNormalSmoothingSize</a></div><div class="ttdeci">void setNormalSmoothingSize(float normal_smoothing_size)</div><div class="ttdoc">Set the normal smoothing size</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_acceb20854934f4cf77e266eb5a44d4f0"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">pcl::PCLBase&lt; PointInT &gt;::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:139</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a963c0da7320055c79e5af0df4f6ad224"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">pcl::PointCloud::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all points in a cloud and sets the width and height to 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint3_d_html"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint3_d.html">pcl::TrajkovicKeypoint3D</a></div><div class="ttdoc">TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric in...</div><div class="ttdef"><b>Definition:</b> trajkovic_3d.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint3_d_html_a0355b42f2f8d11259b292bee56c0a951"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint3_d.html#a0355b42f2f8d11259b292bee56c0a951">pcl::TrajkovicKeypoint3D::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract key point detection method.</div><div class="ttdef"><b>Definition:</b> trajkovic_3d.hpp:94</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
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